Point Cloud Library (PCL) 1.12.0
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List of all members | Public Member Functions | Protected Attributes | Static Protected Attributes
pcl::octree::ColorCoding< PointT > Class Template Reference

ColorCoding class More...

#include <pcl/compression/color_coding.h>

+ Inheritance diagram for pcl::octree::ColorCoding< PointT >:
+ Collaboration diagram for pcl::octree::ColorCoding< PointT >:

Public Member Functions

 ColorCoding ()
 Constructor.
 
virtual ~ColorCoding ()
 Empty class constructor.
 
void setBitDepth (unsigned char bitDepth_arg)
 Define color bit depth of encoded color information.
 
unsigned char getBitDepth ()
 Retrieve color bit depth of encoded color information.
 
void setVoxelCount (unsigned int voxelCount_arg)
 Set amount of voxels containing point color information and reserve memory.
 
void setPointCount (unsigned int pointCount_arg)
 Set amount of points within point cloud to be encoded and reserve memory.
 
void initializeEncoding ()
 Initialize encoding of color information.
 
void initializeDecoding ()
 Initialize decoding of color information.
 
std::vector< char > & getAverageDataVector ()
 Get reference to vector containing averaged color data.
 
std::vector< char > & getDifferentialDataVector ()
 Get reference to vector containing differential color data.
 
void encodeAverageOfPoints (const Indices &indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
 Encode averaged color information for a subset of points from point cloud.
 
void encodePoints (const Indices &indexVector_arg, unsigned char rgba_offset_arg, PointCloudConstPtr inputCloud_arg)
 Encode color information of a subset of points from point cloud.
 
void decodePoints (PointCloudPtr outputCloud_arg, uindex_t beginIdx_arg, uindex_t endIdx_arg, unsigned char rgba_offset_arg)
 Decode color information.
 
void setDefaultColor (PointCloudPtr outputCloud_arg, std::size_t beginIdx_arg, std::size_t endIdx_arg, unsigned char rgba_offset_arg)
 Set default color to points.
 

Protected Attributes

PointCloudPtr output_
 Pointer to output point cloud dataset.
 
std::vector< char > pointAvgColorDataVector_
 Vector for storing average color information

 
std::vector< char >::const_iterator pointAvgColorDataVector_Iterator_
 Iterator on average color information vector.
 
std::vector< char > pointDiffColorDataVector_
 Vector for storing differential color information

 
std::vector< char >::const_iterator pointDiffColorDataVector_Iterator_
 Iterator on differential color information vector.
 
unsigned char colorBitReduction_
 Amount of bits to be removed from color components before encoding.
 

Static Protected Attributes

static const int defaultColor_
 

Detailed Description

template<typename PointT>
class pcl::octree::ColorCoding< PointT >

ColorCoding class

Note
This class encodes 8-bit color information for octree-based point cloud compression.
typename: PointT: type of point used in pointcloud
Author
Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 56 of file color_coding.h.

Constructor & Destructor Documentation

◆ ColorCoding()

template<typename PointT >
pcl::octree::ColorCoding< PointT >::ColorCoding ( )
inline

Constructor.

Definition at line 67 of file color_coding.h.

◆ ~ColorCoding()

template<typename PointT >
virtual pcl::octree::ColorCoding< PointT >::~ColorCoding ( )
inlinevirtual

Empty class constructor.

Definition at line 74 of file color_coding.h.

Member Function Documentation

◆ decodePoints()

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::decodePoints ( PointCloudPtr  outputCloud_arg,
uindex_t  beginIdx_arg,
uindex_t  endIdx_arg,
unsigned char  rgba_offset_arg 
)
inline

Decode color information.

Parameters
outputCloud_argoutput point cloud
beginIdx_argindex indicating first point to be assigned with color information
endIdx_argindex indicating last point to be assigned with color information
rgba_offset_argoffset to color information

Definition at line 281 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::colorBitReduction_, pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_Iterator_, and pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_Iterator_.

◆ encodeAverageOfPoints()

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::encodeAverageOfPoints ( const Indices indexVector_arg,
unsigned char  rgba_offset_arg,
PointCloudConstPtr  inputCloud_arg 
)
inline

Encode averaged color information for a subset of points from point cloud.

Parameters
indexVector_argindices defining a subset of points from points cloud
rgba_offset_argoffset to color information
inputCloud_arginput point cloud

Definition at line 158 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::colorBitReduction_, and pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_.

◆ encodePoints()

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::encodePoints ( const Indices indexVector_arg,
unsigned char  rgba_offset_arg,
PointCloudConstPtr  inputCloud_arg 
)
inline

Encode color information of a subset of points from point cloud.

Parameters
indexVector_argindices defining a subset of points from points cloud
rgba_offset_argoffset to color information
inputCloud_arginput point cloud

Definition at line 204 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::colorBitReduction_, pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_, and pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_.

◆ getAverageDataVector()

template<typename PointT >
std::vector< char > & pcl::octree::ColorCoding< PointT >::getAverageDataVector ( )
inline

Get reference to vector containing averaged color data.

Definition at line 139 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_.

◆ getBitDepth()

template<typename PointT >
unsigned char pcl::octree::ColorCoding< PointT >::getBitDepth ( )
inline

Retrieve color bit depth of encoded color information.

Returns
amounts of bits for representing one color component

Definition at line 92 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::colorBitReduction_.

◆ getDifferentialDataVector()

template<typename PointT >
std::vector< char > & pcl::octree::ColorCoding< PointT >::getDifferentialDataVector ( )
inline

Get reference to vector containing differential color data.

Definition at line 147 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_.

◆ initializeDecoding()

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::initializeDecoding ( )
inline

◆ initializeEncoding()

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::initializeEncoding ( )
inline

Initialize encoding of color information.

Definition at line 119 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_, and pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_.

◆ setBitDepth()

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::setBitDepth ( unsigned char  bitDepth_arg)
inline

Define color bit depth of encoded color information.

Parameters
bitDepth_argamounts of bits for representing one color component

Definition at line 83 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::colorBitReduction_.

◆ setDefaultColor()

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::setDefaultColor ( PointCloudPtr  outputCloud_arg,
std::size_t  beginIdx_arg,
std::size_t  endIdx_arg,
unsigned char  rgba_offset_arg 
)
inline

Set default color to points.

Parameters
outputCloud_argoutput point cloud
beginIdx_argindex indicating first point to be assigned with color information
endIdx_argindex indicating last point to be assigned with color information
rgba_offset_argoffset to color information

Definition at line 339 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::defaultColor_.

◆ setPointCount()

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::setPointCount ( unsigned int  pointCount_arg)
inline

Set amount of points within point cloud to be encoded and reserve memory.

Parameters
pointCount_argamounts of points within point cloud

Definition at line 111 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_.

◆ setVoxelCount()

template<typename PointT >
void pcl::octree::ColorCoding< PointT >::setVoxelCount ( unsigned int  voxelCount_arg)
inline

Set amount of voxels containing point color information and reserve memory.

Parameters
voxelCount_argamounts of voxels

Definition at line 101 of file color_coding.h.

References pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_.

Member Data Documentation

◆ colorBitReduction_

template<typename PointT >
unsigned char pcl::octree::ColorCoding< PointT >::colorBitReduction_
protected

◆ defaultColor_

template<typename PointT >
const int pcl::octree::ColorCoding< PointT >::defaultColor_
staticprotected
Initial value:
= ((255) << 0) |
((255) << 8) |
((255) << 16)

Definition at line 376 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< PointT >::setDefaultColor().

◆ output_

template<typename PointT >
PointCloudPtr pcl::octree::ColorCoding< PointT >::output_
protected

Pointer to output point cloud dataset.

Definition at line 358 of file color_coding.h.

◆ pointAvgColorDataVector_

template<typename PointT >
std::vector<char> pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_
protected

◆ pointAvgColorDataVector_Iterator_

template<typename PointT >
std::vector<char>::const_iterator pcl::octree::ColorCoding< PointT >::pointAvgColorDataVector_Iterator_
protected

Iterator on average color information vector.

Definition at line 364 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< PointT >::decodePoints(), and pcl::octree::ColorCoding< PointT >::initializeDecoding().

◆ pointDiffColorDataVector_

template<typename PointT >
std::vector<char> pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_
protected

◆ pointDiffColorDataVector_Iterator_

template<typename PointT >
std::vector<char>::const_iterator pcl::octree::ColorCoding< PointT >::pointDiffColorDataVector_Iterator_
protected

Iterator on differential color information vector.

Definition at line 370 of file color_coding.h.

Referenced by pcl::octree::ColorCoding< PointT >::decodePoints(), and pcl::octree::ColorCoding< PointT >::initializeDecoding().


The documentation for this class was generated from the following file: